/** A test supporter option without common decision */

option(Supporter)
{
    float p = -2.0f;
	initial_state(prepare)
	{
		transition
		{
			if(action_done && state_time > 30000)
				goto moveleft;
		}
		action
		{
			Stand();
		}
	}
	state(moveleft)
	{
		transition
		{
			if(state_time > 8000)
				goto wait;
		}
		action
		{
			WalkAtRelativeSpeed(Pose2f(0.0f, 0.0f, 0.2f));
		}
	}
	state(wait)
	{
		transition
		{
			if(state_time > 1000)
				goto walkStraight;
		}
		action
		{
			
		}
	}
    state(walkStraight)
    {
        transition
        {
	     if(state_time > 6000)
        	goto finish;
		
        }
        action
        { 
			WalkAtRelativeSpeed(Pose2f(p * theLibCodeRelease.odometryRSum, 0.8f, 0.f));
        }
    }

    
	state(finish)
	{
		action
		{
			Stand();
		}
	}
}
